CN205814326U - A kind of medical device positioning system - Google Patents
A kind of medical device positioning system Download PDFInfo
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- CN205814326U CN205814326U CN201620379460.4U CN201620379460U CN205814326U CN 205814326 U CN205814326 U CN 205814326U CN 201620379460 U CN201620379460 U CN 201620379460U CN 205814326 U CN205814326 U CN 205814326U
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Abstract
The utility model discloses a kind of medical device positioning system, it includes signal source, coil, magnetostriction materials, permanent magnet, strain measurement element and signal and data processing integration module；The outfan of described signal source is connected with the input of coil；Described magnetostriction materials are positioned in having of described coil generation electromagnetic field that space vector is distributed, with field signal；Described magnetostriction materials are relatively fixed with described permanent magnet, and described magnetostriction materials are in the DC bias magnetic field of described permanent magnet；Described strain measurement element and described magnetostriction materials Strain-coupled, the outfan of described strain measurement element is connected with the input of described signal and data processing integration module.Medical device positioning system of the present utility model, has far measuring distance, positioning precision height, low cost, the technical characterstic such as anti-interference.
Description
Technical field
This utility model relates to a kind of medical device positioning system, can be used for pipeline endoscope, capsule endoscope, micro computer
The location of the equipment such as device people.
Background technology
Along with the fast development of micro & nano technology, endoscopic technique achieved with great progress, particularly human body intestines and stomach
Wireless capsule endoscope technology uses at clinical expansion.Capsule endoscopic key problem in use is fortune at present
Move the measurement with attitude and control.The location technology aspect of medical micro device equipment in vivo, traditional method is that ultrasound wave becomes
The methods such as picture, nucleus medical image and fluorescence moulding location, but there is cost height, operation complexity, human body easily caused in these methods
Radiation and the shortcoming that long-time dynamically location cannot be met.
At present, location technology based on emission of magnetic field with reception quickly grows, and has low cost, simple to operate, to human body
Do not result in radiation injury.Emission of magnetic field is usually permanent magnet or coil, and magnetic field receives and generally uses anisotropic magnetoresistive, huge magnetic
The sensors such as resistance.But anisotropic magnetoresistive, giant magneto-resistance sensor existing defects in terms of sensitivity, it is difficult to meet at a distance
Capsule location requirement, and when sensor array column number is the hugest, between sensor, it is easily generated signal disturbing.
Utility model content
In place of above-mentioned the deficiencies in the prior art, this utility model provides a kind of based on magnetostriction materials
The medical device positioning system in measuring coil magnetic field, has far measuring distance, positioning precision height, low cost, the technology such as anti-interference
Feature.
This utility model provides a kind of medical device positioning system, and it includes signal source, coil, magnetostriction materials, forever
Magnet, strain measurement element and signal and data processing integration module；
The outfan of described signal source is connected with the input of coil；
Described magnetostriction materials are positioned at having of described coil generation electromagnetic field that vector is distributed, with field signal
In；
Described magnetostriction materials are relatively fixed with described permanent magnet, and described magnetostriction materials are in described permanent magnet
In DC bias magnetic field；
Described strain measurement element and described magnetostriction materials Strain-coupled, the outfan of described strain measurement element with
The input of described signal and data processing integration module is connected.
Signal source of the present utility model can use signal source commonly used in the art, as be integrated with signal amplifier,
The signal source of the elements such as demodulator.
The magnetizing direction of described permanent magnet is consistent with the optimum piezomagnetic properties direction of described magnetostriction materials；
The electromagnetism that the strain measurement direction of described strain measurement element produces at described coil with described magnetostriction materials
The principal strain directions produced in Chang is consistent；
The optimum piezomagnetic properties direction phase of the strain measurement direction of described strain measurement element and described magnetostriction materials
Unanimously；
Described magnetostriction materials are fixed on permanent magnet.
Described strain measurement element is one or more in resistance strain gage, strain grating, strain optical fiber and piezoelectric patches.
The number of described signal source is one or more, and the number of described coil is one or more, described magnetostriction
The number of material is one or more, and the number of described permanent magnet is one or more, and the number of described strain measurement element is
One or more, the number of signal and data processing integration module described in system is one or more.
One or more described signal sources, one or more described coil, one or more described magnetostriction materials, one
Individual or multiple described permanent magnet, one or more described strain measurement element, one or more described signal and data processing collection
Become module composition one-dimensional array, two-dimensional array or cubical array.
Multiple described strain measurement elements and one or more described signal sources, one or more described coil, one or
Multiple described magnetostriction materials, one or more described permanent magnet, one or more integrated mould of described signal and data processing
Block forms one-dimensional First-order Gradient, one-dimensional second order gradient, three one-dimensional ladder degree, the First-order Gradient of two dimension, the second order of two dimension
Gradient, three ladder degree of two dimension, three-dimensional First-order Gradient, three-dimensional second order gradient or three ladder degree of three-dimensional.
Described armarium is fixing with described coil and signal source to be connected；Or described armarium and described magnetostriction material
Material, permanent magnet, strain measurement element and signal and data processing integration module are fixing to be connected.
Described armarium is capsule endoscopic.When armarium is capsule endoscopic, coil and signal source are solid
Be scheduled in the capsule of described capsule endoscopic, or described magnetostriction materials, permanent magnet, strain measurement element and signal with
Data process integration module and are fixed in the capsule of described capsule endoscopic.
Described alignment system also includes that antenna, the input of described antenna are connected to signal and data processing integration module
Outfan.
Compared with prior art, this utility model has the advantage that
1, medical device positioning system of the present utility model, coil produces external electromagnetic field under signal source encourages, works as line
When circle changes relative to position and angle with magnetostriction materials so that act on the electromagnetic field on magnetostriction materials and occur
Change, and then cause the change that magnetostriction materials strains, then the strain by strain measurement element measurement magnetostriction materials
Change, and strain signal is sent to signal and data processing integration module, then signal and data processing integration module should
Varying signal is converted into the relative position between armarium and magnetostriction materials or between armarium and coil and relative angle
Degree, completes the positioning function of armarium.
Medical device positioning system of the present utility model, can realize the measurement to Weak magentic-field and remote source location,
And the mutual interference of signal can be greatly lowered, there is far measuring distance, positioning precision height, low cost, the technical characterstic such as anti-interference,
Can be avoided traditional sensors poor sensitivity, be difficult to meet the problem of remote capsule location requirement, and work as sensor array
When column number is the hugest, the problem being easily generated signal disturbing between sensor.
2, medical device positioning system of the present utility model, the strain measurement direction of strain measurement element produces magnetic with coil
The principal strain directions of the magnetostriction materials that field causes is consistent, and the optimum piezomagnetic properties direction of magnetostriction materials is surveyed with strain
The strain measurement direction of amount element is consistent, the optimum piezomagnetic properties direction phase of the magnetizing direction of permanent magnet and magnetostriction materials
Unanimously, so can ensure that strain is answered by high efficiency, distortionless being converted to by high efficiency transmission and measurement, field signal
Varying signal.
3, medical device positioning system of the present utility model, the different signal sources of number, coil, magnetostriction materials, forever
Magnet, strain measurement element, signal and data processing integration module can form one-dimensional, two-dimentional, cubical array, and composition flexibly
One-dimensional, two-dimentional, three-dimensional single order, second order, three gradiometer, thus improve positioning precision further, suppression interference, extension location
Distance.
4, medical device positioning system of the present utility model, the kind of strain measurement element is resistance strain gage, answers darkening
Grid, strain optical fiber, piezoelectric patches or above several combination, use resistance strain gage, piezoelectric patches scheme can reduce system cost, subtract
Mini system volume, simplified system form, and use strain grating, strain optical fiber approach can simplify signal networking transmission framework, be easy to
Composition gradient meter, raising system EMC.
Accompanying drawing explanation
The structural representation of the medical device positioning system that Fig. 1 provides for this utility model embodiment 1；
The structural representation of the medical device positioning system that Fig. 2 provides for this utility model embodiment 2；
Reference: 1-signal source, 2-coil, 3-magnetostriction materials, 4-permanent magnet, 5-strain measurement element, 6-believes
Number with data process integration module, 7-armarium, 8-antenna, 9-cable.
Detailed description of the invention
Medical device positioning system of the present utility model is further illustrated below by embodiment, but it is not considered that this reality
It is limited only in below example with novel.
This utility model provides a kind of medical device positioning system, it include signal source 1, coil 2, magnetostriction materials 3,
The input of permanent magnet 4, strain measurement element 5 and signal and data processing integration module 6, the outfan of signal source 1 and coil 2
Can be connected by electric wire.Coil 2 produces the field signal with the distribution of particular space vector under signal source 1 encourages；Mangneto
Telescopic material 3 is positioned in having of cable coil 2 generation electromagnetic field that vector is distributed, with field signal；Cable mangneto is stretched
Compression material 3 is relatively fixed with cable permanent magnet 4, and cable permanent magnet 4 provides DC bias magnetic field, magnetostriction materials 3 to be in forever
In the DC bias magnetic field of magnet 4；Cable strain measuring cell 5 and cable magnetostriction materials 3 Strain-coupled, cable strain is surveyed
The input that the outfan of amount element 5 processes integration module 6 with cable signal with data is connected.So magnetostriction materials 3
Producing deformation under the certain electric magnetic field excitation that coil 2 produces, this deformation is by measured by cable strain measuring cell 5, and cable should
The output signal becoming measuring cell 5 is sent to cable signal and data process integration module 6, then and by output signal is converted to
Magnetostriction materials 3 position relative with coil 2 and relative angle information.
In one embodiment, signal source 1 can use signal source commonly used in the art, puts as being integrated with signal
The signal source of the big element such as device, demodulator.Signal source 1 and coil 2 can realize power supply by external cable.
In order to ensure that field signal is by the distortionless strain signal that is converted to, the magnetizing direction of permanent magnet 4 and magnetostriction
The optimum piezomagnetic properties direction of material 3 is consistent.Magnetostriction materials 3 are fixed on permanent magnet 4, can be fixed on permanent magnet 4
Side.
In order to ensure to strain by high efficiency transmission and measurement, the strain measurement direction of cable strain measuring cell 5 is permissible
Consistent with the principal strain directions that cable magnetostriction materials 3 produce in the electromagnetic field that cable coil 2 produces.
In order to ensure that field signal is by the high efficiency strain signal that is converted to, the strain measurement direction of strain measurement element 5
Consistent with the optimum piezomagnetic properties direction of magnetostriction materials 3.
In this utility model, strain measurement element 5 can be resistance strain gage, strain grating, strain optical fiber and piezoelectricity
One or more in sheet.
The number of cable coil 2 is more than or equal to 1, and the number of cable signal source 1 is more than or equal to 1, cable magnetostriction materials 3
Number more than or equal to 1, the number of cable permanent magnet 4 is more than or equal to 1, and the number of cable strain measuring cell 5 is more than or equal to 1,
In system, cable signal and data process the number of integration module 6 more than or equal to 1.The multiple signal source of cable 1, coil 2, mangneto are stretched
Compression material 3, permanent magnet 4, strain measurement element 5 and signal and data processing integration module 6 form one-dimensional array, two-dimensional array or
Cubical array；Or multiple cable strain measuring cell 5 forms one-dimensional First-order Gradient, one-dimensional second order gradient, three one-dimensional rank
Gradient, the First-order Gradient of two dimension, the second order gradient of two dimension, three ladder degree of two dimension, three-dimensional First-order Gradient, two three-dimensional ladders
Degree, three three-dimensional ladder degree.
In a kind of way of example, armarium 7 is fixed be connected with signal source 1 and coil 2, and magnetostriction materials 3
Can be with armarium 7 relative motion, such cable data processes integration module and provides cable magnetostriction materials 3 and armarium
The relative position of 7 and relative angle information.When armarium 7 is capsule endoscopic, coil 2 and signal source 1 are fixed on glue
In the capsule of capsule endoscope.
In another embodiment, it is possible to by armarium 7 and magnetostriction materials 3, permanent magnet 4, strain measurement unit
Part 5 and the fixing connection of signal and data processing integration module 6, cable coil 2 and armarium 7 relative motion, at cable data
Reason integration module provides cable coil 2 position relative with armarium 7 and relative angle information.When armarium 7 is capsule
During formula endoscope, cable magnetostriction materials 3, permanent magnet 4, strain measurement element 5 and signal and data processing integration module 6 are solid
It is scheduled in the capsule of cable gum capsule endoscope.
Alignment system also includes antenna, and the input of antenna is connected to the outfan of signal and data processing integration module 6,
Can be used for receiving information after signal and data processing integration module 6 processes, be subsequently sent to main frame.
Embodiment 1
The structural representation of medical device positioning system is as it is shown in figure 1, its element the Nomenclature Composition and Structure of Complexes is as follows:
1-signal source 1, output frequency 125 hertz, 200 milliamperes of continuous signals of peak-to-peak value electric current；
2-coil 2, solenoid shape, 0.2 millimeter of line footpath, pipe range 15 millimeters, pipe diameter 5 millimeters, the number of turn 300, coil 2
Input is connected to the outfan of signal source 1；
3-magnetostriction materials 3, Dy-Fe alloy, shape strip sheet, long 10 millimeters, thick 1 millimeter, wide 2 millimeters, length direction
Along [112] crystal orientation, magnetostriction materials 3 are fixed on the side of permanent magnet 4；
4-permanent magnet 4, material is neodymium iron boron, shape disk, diameter 6 millimeters, and thickness 3 millimeters, magnetizing direction is along thickness side
To, thickness direction is consistent with the length direction of magnetostriction materials 3, i.e. the magnetizing direction of permanent magnet 4 and magnetostriction materials 3
Optimum piezomagnetic properties direction is consistent；
5-strain measurement element 5, uses fiber grating, centre wavelength 1538.096 nanometer, grating length 10 millimeters.Strain
Measuring cell 5 and the mode of magnetostriction materials 3 Strain-coupled: use epoxy resin to be pasted onto on magnetostriction materials 3, paste
Direction is along the length direction of magnetostriction materials 3, and the sensitive direction of grating is consistent with the length direction of magnetostriction materials 3.Light
Fine grating processes integration module by optical fiber with data and is connected, and it is integrated that grating wavelength change is transferred to signal and data processing
Module 6.
6-signal and data processing integration module 6.
7-armarium 7, for the capsule endoscopic of tape cable.Coil 2 and signal source 1 are fixed on capsule endoscopic
In capsule.
8-cable 9, the outside cable 9 that passes through provides power supply for signal source 1 and coil 2.
The work process of the present embodiment medical device positioning system is as follows:
Putting into internal by the endoscope being fixed with coil 2 and signal source 1, power supply is placed in outside human body and is coil by cable
2 and signal source 1 electric energy, magnetostriction materials 3, permanent magnet 4, strain measurement element 5, signal and data processing integration module are provided
6 are in outside human body, then move the position of the molectron of magnetostriction materials 3, permanent magnet 4, strain measurement element 5, when coil 2
When position relative with magnetostriction materials 3 and angle change so that act on the electromagnetic field on magnetostriction materials 3 and occur
Change, and then cause the change that magnetostriction materials 3 strains, then measure answering of magnetostriction materials 3 by strain measurement element 5
Change, and strain signal is sent to signal and data processing integration module 6, signal and data processing integration module 6 is with letter
Number source 1 signal is reference, uses phase locked algorithm to process strain and Magnetic Field, finds signal by spacescan very big
Value point determines armarium 7 position relative with magnetostriction materials 3 and relative angular position, completes the location merit of armarium
Energy.
Test effect: the medical device positioning system of the present embodiment can realize the measurement to Weak magentic-field and remote source
Location, and carry out array signal set by fiber grating, can effectively suppress the environment electromagnetics interference impact on location data, carry
The ambient adaptability of high alignment system.
Embodiment 2
The structural representation of medical device positioning system is as in figure 2 it is shown, its element the Nomenclature Composition and Structure of Complexes is as follows
1-signal source 1, five signal source 1 output frequencies respectively are 1125 hertz, 11125 hertz, 21125 hertz, 31125
Hertz, 41125 hertz；
2-coil 2, solenoid shape, 0.2 millimeter of line footpath, pipe range 30 millimeters, pipe diameter 5 millimeters, the number of turn 600, in coil 2
The heart points to be mutually perpendicular to along same straight line, level interval 10 centimetres, adjacent windings 2, and the input of each coil 2 connects respectively
To the outfan of respective signal source 1, thus five pairs of coils 2 and signal source 1 form two-dimensional array；
3-magnetostriction materials 3, Dy-Fe alloy, shape strip sheet, long 6 millimeters, thick 0.5 millimeter, wide 2 millimeters, length side
To along [112] crystal orientation；
4-permanent magnet 4, material is neodymium iron boron, shape disk, diameter 3 millimeters, and thickness 2 millimeters, magnetizing direction is along thickness side
To, thickness direction is consistent with the length direction of magnetostriction materials 3, and two permanent magnets 4 are separately fixed at magnetostriction materials 3 length
The two ends in degree direction；
5-strain measurement element 5, uses piezoelectric PZT-5X, shape strip sheet, and long 6 millimeters, wide 2 millimeters, thick 0.5 in the least
Meter, by silver electrode, polarize in the width direction in the side of width, piezoelectric constant d33～900pC/N.Strain measurement element 5 with
The mode of magnetostriction materials 3 Strain-coupled: use AB glue that the big face of piezoelectric PZT-5X is pasted onto magnetostriction materials 3
Big face on, the electrode of piezoelectric PZT-5X is the outfan of strain measurement element 5.The outfan of piezoelectric PZT-5X leads to
Crossing cable to be connected with the input of signal and data processing integration module 6, the output signal of piezoelectric is sent to signal and number
According to processing integration module 6；
6-signal and data processing integration module 6；
7-armarium 7, for the capsule endoscopic of wireless telecommunications.Magnetostriction materials 3, permanent magnet 4, strain measurement unit
Part 5, signal and data processing integration module 6 are fixed in the capsule of capsule endoscopic；
8-antenna 8, the input of antenna 8 is connected to the outfan of signal and data processing integration module 6, can be used for receiving
Information after signal and data processing integration module 6 process, is subsequently sent to main frame.
The work process of the medical device positioning system of the present embodiment is as follows:
Magnetostriction materials 3, permanent magnet 4, strain measurement element 5, signal and data processing integration module 6 will be fixed with
Capsule endoscopic is put into internal, and the two-dimensional array of five pairs of coils 2 and signal source 1 composition is in outside human body, mobile two dimension battle array
Row so that the electromagnetic field acted on magnetostriction materials 3 changes, and then cause the change that magnetostriction materials 3 strain,
Measured the strain variation of magnetostriction materials 3 again by strain measurement element 5, and strain signal is sent at signal and data
Reason integration module 6, signal and data processing integration module 6 is filtered frequency dividing and measures, by each the composite signal of 5 kinds of frequencies
The information of frequency component is converted to relative position and the information of relative angle of armarium 7, and by 8-antenna transmission to main
Machine, completes the positioning function of armarium.
Test effect: the medical device positioning system of the present embodiment can realize the measurement to Weak magentic-field and remote source
Location, and the mutual interference of signal can be greatly lowered.There is far measuring distance, positioning precision height, low cost, the technology such as anti-interference
Feature.
Described above to the disclosed embodiments, makes professional and technical personnel it will be appreciated that this utility model.Real to these
The multiple amendment executing example is apparent from for professional and technical personnel, and generic principles defined herein can not take off
In the case of spirit or scope of the present utility model, realize in other embodiments.Therefore, this utility model will not be limited
It is formed on the embodiments shown herein, but meets the widest model consistent with principles disclosed herein and novel point
Enclose.
Claims (10)
1. a medical device positioning system, it is characterised in that: it include signal source, coil, magnetostriction materials, permanent magnet,
Strain measurement element and signal and data processing integration module；
The outfan of described signal source is connected with the input of coil；
Described magnetostriction materials are positioned at having of described coil generation electromagnetic field that space vector is distributed, with field signal
In；
Described magnetostriction materials are relatively fixed with described permanent magnet, and described magnetostriction materials are in the direct current of described permanent magnet
In bias magnetic field；
Described strain measurement element and described magnetostriction materials Strain-coupled, the outfan of described strain measurement element is with described
The input of signal and data processing integration module is connected.
2. according to the alignment system described in claim 1, it is characterised in that: the magnetizing direction of described permanent magnet is stretched with described mangneto
The optimum piezomagnetic properties direction of compression material is consistent；
The strain measurement direction of described strain measurement element and described magnetostriction materials are in the electromagnetic field that described coil produces
The principal strain directions produced is consistent；
The strain measurement direction of described strain measurement element is consistent with the optimum piezomagnetic properties direction of described magnetostriction materials.
3. according to the alignment system described in claim 1 or 2, it is characterised in that: described magnetostriction materials are fixed on permanent magnet
On.
4. according to the alignment system described in claim 1 or 2, it is characterised in that: described strain measurement element be resistance strain gage,
One or more in strain grating, strain optical fiber and piezoelectric patches.
5. according to the alignment system described in claim 1 or 2, it is characterised in that: the number of described signal source is one or more,
The number of described coil is one or more, and the number of described magnetostriction materials is one or more, described permanent magnet
Number is for one or more, and the number of described strain measurement element is one or more, described signal and data processing integration module
Number be one or more.
6. according to the alignment system described in claim 1 or 2, it is characterised in that: one or more described signal sources, or many
Individual described coil, one or more described magnetostriction materials, one or more described permanent magnet, one or more described strain
Measuring cell and one or more described signal and data processing integration module composition one-dimensional array, two-dimensional array or three-dimensional battle array
Row.
7. according to the alignment system described in claim 1 or 2, it is characterised in that: multiple described strain measurement elements and one or
Multiple described signal sources, one or more described coil, one or more described magnetostriction materials, one or more described in forever
Magnet, the one or more described signal and data processing integration module one-dimensional First-order Gradient of composition, one-dimensional second order gradient, one
Three ladder degree of dimension, the First-order Gradient of two dimension, the second order gradient of two dimension, three ladder degree of two dimension, three-dimensional First-order Gradient, three-dimensional
Second order gradient or three ladder degree of three-dimensional.
8. according to the alignment system described in claim 1 or 2, it is characterised in that: described armarium and described coil and signal
Source is connected with fixing；Or described armarium and described magnetostriction materials, permanent magnet, strain measurement element and signal and data
Process the fixing connection of integration module.
9. according to the alignment system described in claim 1 or 2, it is characterised in that: described armarium is capsule endoscopic.
10. according to the alignment system described in claim 1 or 2, it is characterised in that: described alignment system also includes antenna, described
The input of antenna is connected to the outfan of signal and data processing integration module.
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| CN201620379460.4U CN205814326U (en) | 2016-04-29 | 2016-04-29 | A kind of medical device positioning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111494010A (en) * | 2020-04-28 | 2020-08-07 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
| CN112013885A (en) * | 2019-05-31 | 2020-12-01 | 波音公司 | Optical fiber sensor system |
-
2016
- 2016-04-29 CN CN201620379460.4U patent/CN205814326U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112013885A (en) * | 2019-05-31 | 2020-12-01 | 波音公司 | Optical fiber sensor system |
| CN112013885B (en) * | 2019-05-31 | 2024-04-19 | 波音公司 | Optical fiber sensor system and method for transporting optical sensors |
| CN111494010A (en) * | 2020-04-28 | 2020-08-07 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
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